Abstract: A system is disclosed that includes an end effector and a support configured to move the end effector. The support may include a first link, a second link rotationally connected to the first link at a joint, and a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of a position of the first link relative to the second link. The system may further include a controller in communication with the sole encoder and the motor. The controller may be configured to selectively trim operation of the motor based only on the signal.

Abstract: A patient transport apparatus with a support structure having a base, a support frame, and a patient support deck defining a support surface. An inertial sensor is coupled to the support structure and generates a signal representing a change in velocity of the support structure. A controller in communication with the inertial sensor has a processor and a non-transitory storage medium having stored thereon a program that monitors the signal generated by the inertial sensor for changes relative to a predetermined threshold. In response to an event in which the signal exceeds the predetermined threshold, the program is further configured to: generate a waveform based on the signal received from the inertial sensor; store the waveform at an overwritable address in the non-transitory storage medium; and generate an entry in an event log stored in the non-transitory storage medium, the entry comprising one or more parameters associated with the waveform.

Abstract: A vibration-cancelling module includes a first rotor having a first eccentric body, a second rotor having a second eccentric body, and a stator assembly in electromagnetic communication with the first and second rotors. A central shaft extends between the first and second rotors. The first and second rotors rotationally operate about a common rotational axis with respect to one another between a balanced position and a plurality of eccentric positions. A controller has an accelerometer assembly and a rotor-position sensor assembly. The controller delivers an electrical current to the stator assembly at least based upon the accelerometer assembly. A common housing contains the first and second rotors, the stator assembly, the central shaft and the controller.

Abstract: Embodiments of the present invention provide testing systems with liquid cooled thermal arrays that can pivot freely in three dimensions allowing surfaces to be brought into even, level, and secure contact, thereby preventing air gaps between surfaces and improving thermal performance. In this way, more DUTs can be tested in parallel within a small test space, overall costs of the test system are reduced, and greater cooling capacity can be provided for testing high-powered devices. Gimbaled mounts are disposed on a bottom surface of individual thermal interface boards (TIBs) of a test system, and/or on top of individual thermal heads of a thermal array (TA) having a common cold plate (or having multiple cold plates).

Abstract: A method for testing capacitive current switching of a circuit breaker, including: realizing a capacitive current switching by the circuit breaker, measuring voltage at the terminals of the circuit breaker after the capacitive current switching, calculating the gradient of the measured voltage, determining whether there is at least one point of gradient whose amplitude exhibits an absolute value greater than a first predetermined threshold, and when such a point is determined, identifying the instant of appearance of the determined point and of the amplitude of variation of the voltage at that instant, as voltage drop.

Abstract: A method for finding a center of a process kit and/or a process kit ring is provided. An object placed on an end effector is moved past a sensor of a manufacturing system. A first signal indicating a current shape of object is received from the sensor of the manufacturing system. A determination is made whether the first signal corresponds to a second signal indicating a predefined shape for a process kit and/or a process kit carrier. In response to a determination that the first signal corresponds to the second signal, a coordinate correspondence is determined between coordinates of a center of the object and coordinates of a center of the end effector. The determined coordinate correspondence indicates whether a current placement of the object on the end effector satisfies a target placement criterion.

Abstract: A multi-axis control adjustment apparatus includes adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device, adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes, and first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes.

Abstract: A method of speed control based on a self-learning model of load torque and a moment inertia is applied to a controller of controlling a motor. The method includes steps of: establishing a relationship between the load torque and the moment inertia by a self-learning manner, correspondingly acquiring a value of the moment inertia according to a value of the load torque, and adjusting parameters of the controller to control rotation of the motor according to the value of the moment inertia.

Abstract: A surgical device for retaining a tool, the surgical device comprises a multi-axis manipulator configured to generate relative movement between a moving end and a stationary end thereof; a housing fixed to the stationary end of the manipulator; a motor configured to rotate the tool by a rotating interface when the tool is retained to the rotating interface; an adaptor connected to the manipulator and in orientational fixation to the moving end of the manipulator, the adaptor being configured to move with the moving end, and the adaptor comprises a tool stopper disposed therein, wherein the tool stopper is configured to catch the tool if the tool is dropped from the rotating interface; a tool head latchless interface exposed to a channel of the adaptor and configured to provide attraction force within the channel for retaining the tool to the rotating interface.

Abstract: A method and system configured to receive a first report from a computer peripheral device by a receiver, determine that the first report is corrupted or received at a rate slower than the first report rate, compute a current trajectory of the computer peripheral device based on one or more intervals of movement data in the first report, compute a predicted trajectory of the computer peripheral device based on the first report, compute an incremental displacement of the computer peripheral device based on the predicted trajectory. The method and system can further generate data indicative of a position or displacement of the computer peripheral device based on the predicted trajectory of the computer peripheral device and send the data indicative of a position or displacement of the computer peripheral device at an interval that is less than twice a period of the first report rate to the host computing device.

Abstract: A method and an apparatus for isolating a vibration of a positioning device are provided. The apparatus includes a base plate for the positioning device, at least one active bearing element for bearing the base plate on/at a foundation and at least one evaluation and control device. The apparatus includes at least one means for determining a foundation movement-dependent quantity, wherein the active bearing element is controllable by the at least one control and evaluation device on the basis of the foundation movement-dependent quantity.

Abstract: A control method includes (a) measuring a misregistration index value relating to misregistration of a distal end portion of a manipulator by controlling the manipulator to perform a test operation, and (b) setting a limit value for an operation of the manipulator to prevent the misregistration index value from exceeding a predetermined threshold value.

Abstract: A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

Abstract: The invention relates to a method used to control a scroll compressor having a first and a second spiral, in particular that are arranged one inside the other. The first spiral can be moved by a motor relative to the second spiral for a decompression or compression operation of the scroll compressor. The invention reduces vibration (actual acceleration forces) in the scroll compressor to allow for a longer service life by adapting a torque curve of the motor on the basis of measured acceleration forces on the scroll compressor which, in turn, is based on the position and/or positional angle of the first spiral relative to the second spiral such that the acceleration forces are reduced below a threshold or minimized.

Abstract: Faster, less computational intense, and more robust techniques to optimize velocity of robots or portions thereof without violating constraints on acceleration and jerk (derivative of acceleration with respect to time) are described. A nonlinear problem of optimizing velocity without violating acceleration constraints is linearized, and produces acceleration constrained velocity estimates. A nonlinear problem of optimizing velocity without violating jerk constraints in linearized, and produces jerk constrained velocity estimates, and may be feed by the acceleration constrained velocity estimates. Configuration and timing may be generated and provided, e.g., as vectors, to control operation of a robot, robotic appendage or other structure.

Abstract: A technique enables control parameter adjustment with a more accurate estimated inertia ratio for multiple servomotors. An adjustment support apparatus (9) supports adjustment of inertia ratios as control parameters for servo drivers (5, 6) that drive multiple servomotors. The adjustment support apparatus (9) includes an inertia ratio obtainer (91) that obtains inertia ratios estimated by inertia ratio estimators (52, 62) included in the servo drivers (5, 6) and an inertia ratio setting control unit (92) that synchronizes inertia ratio settings and updates between the servo drivers (5, 6).

Abstract: A substrate processing apparatus including a frame, a first arm coupled to the frame at a shoulder axis having a first upper arm, a first forearm and at least one substrate holder serially and rotatably coupled to each other, a second arm coupled to the frame at the shoulder axis where shoulder axes of rotation of the arms are substantially coincident, the second arm having a second upper arm, a second forearm and at least one substrate holder serially and rotatably coupled to each other, and a drive section connected to the frame and coupled to the arms, the drive section being configured to independently extend and rotate each arm where an axis of extension of the first arm is angled relative to an axis of extension of the second arm substantially at each angular position of at least one of the first arm or the second arm.

Abstract: A steering column may include a first adjustment drive for adjustments in a length adjustment direction and a second adjustment drive for adjustments in a height adjustment direction. The adjustment drives each have a drive motor. A joint control unit for the drive motors comprises three half bridges arranged in parallel and connected between two voltage potentials. Each half bridge has a high-side switch and a low-side switch connected in series via a connection point. The connection point of the first half bridge is electrically conductively connected to a first connection of a first drive motor. The connection point of a second half bridge is electrically conductively connected to a second connection of the first drive motor and to a first connection of the second drive motor. The connection point of a third half bridge is electrically conductively connected to a second connection of the second drive motor.

Abstract: A method for adjusting a parameter value of a position controller and a parameter value of a rotational speed controller is provided. The position controller and the rotational speed controller are cascaded and are a component of a control circuit. The method includes generating and displaying a two-dimensional parameter adjusting field, wherein points in the two-dimensional parameter adjusting field are selectable by a user, and a specific parameter value of the position controller and a specific parameter value of the rotational speed controller are allocated to a point, and after the user has selected a point adopting the specific parameter value of the position controller that is allocated to the selected point and adopting the specific parameter value of the rotational speed controller that is allocated to the selected point.

Abstract: A numerically controlled machine tool has at least one movement axis and is connected to a numerical controller which includes a parts program. Movements of each movement axis are limited by maximum permissible axis dynamics. The parts program has a sequence of instructions for machining a workpiece which specify different maximum desired speeds for the machining of the workpiece which change abruptly over time. The numerical controller approximates the different maximum desired speeds which change abruptly over time with a desired speed profile that is continuous over time and has a profile of the maximum desired speeds which is also continuous over time. The numerical controller uses the continuous desired speed profile to calculate the desired values of an actual movement profile of the movements for each movement axis.

Abstract: The invention relates to an electric machine tool comprising an electric motor, a motor control unit for operating the electric motor, an input interface for entering a target specification of an operating mode of the electric motor into the motor control unit, and a motor sensor device for detecting the operating mode of the electric motor. A slave control unit is provided, which is independent from the motor control unit and communicatingly connected to the motor sensor device and the input interface and designed to compare the operating mode of the electric motor detected by the motor sensor device with the target specification entered via the input interface, and to influence the operating mode of the electric motor in case of a defined deviation of the operating mode from the target specification by means of a control device.

Abstract: A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom hinges, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joints, wherein the top plate is configured to receive a workpiece. Each linear actuator of three linear actuators is coupled to an associated SDOF hinge of the bottom plate and coupled to an associated TDOF joint of the top plate. Each linear actuator is configured to change length over a linear actuation span and configured to return the top plate to a predetermined set position after the top plate is displaced by an external force Each linear actuator includes a ball coupled to the associated three TDOF joint and a positioning actuator configured to move the ball to the predetermined set position prior to the return of the top plate to the predetermined set position.

Abstract: Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

Abstract: A method for positioning a substage (9), supported by a main stage (5), relative to a reference object, the substage moveable in a direction (7) between a first and second position relative to the main stage. The method includes positioning the first stage using a passive force system that is activated by positioning the main stage. The passive force system includes two magnet systems (119, 121), each magnet system being configured to apply a force in the direction to the first stage with respect to the second stage in a non-contact manner, the forces resulting in a resultant force applied to the first stage in the direction by the passive force system. A magnitude and/or a direction of the resultant force depends on the position of the first stage relative to the second stage, and the first stage has a zero-force position between the first and second position in which the resultant force is zero.

Abstract: An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.

Abstract: A finger pointing joystick with magnetic induction is provided. The finger pointing joystick with magnetic induction includes a main housing having a bottom case and an upper cover; a support frame having a fixed end fixedly to an end of the bottom case; a movable sphere disposed on a receiving ring; a joystick body fixed on the movable sphere; an elastic piston piece having a connecting rod inserted through a piston groove, an elastic disc fixed below the connecting rod, a return spring fixed between the movable sphere and the elastic disc, and a magnet correspondingly fixed to the elastic disk; and a magnetic induction element disposed below the magnet.

Abstract: The disclosure provides a method for controlling a drive arrangement for a flap of a vehicle by a control arrangement, wherein in a measuring routine a measured movement value is measured by a movement measuring system. It is proposed that in an estimation routine an estimated movement value is estimated, in a movement routine the estimated movement value is determined via the estimation routine and the flap is adjusted according to a set movement value, in a correction routine the estimated movement value is determined from the estimation routine and an estimation error is determined and from the estimated movement value and according to a correction specification the set of model parameters is corrected based on the estimation error and supplied to the estimation routine and in the correction routine the correction of the set of model parameters is performed for a part section of the motorized movement cycle.

Abstract: A digital positioner for a valve includes a valve controller configured to obtain a set point value for a valve travel of a valve, and generate a pulse-width modulated current signal based on the set point value. The digital positioner also includes a current-to-pressure converter configured to receive the pulse-width modulated current signal from the valve controller, convert the pulse-width modulated current signal to a pulse-width modulated pressure signal, and provide the pulse-width modulated pressure signal to a pneumatic actuator in the valve to adjust a position of the valve.

Abstract: A servo amplifier selection device includes a memory configured to store specifications of each of a plurality of amplifiers capable of supplying power to a motor; and a processor configured to select, based on the number of one or more designated motors, specifications of each of the one or more designated motors, and specifications of each of the plurality of amplifiers, a combination of amplifiers connected to the one or more designated motors from the plurality of amplifiers in such a way that each of the one or more designated motors is connected to any of the plurality of amplifiers; and select, for each amplifier included in the combination of the amplifiers, specifications of a power cable that connects between the amplifier and a power source in such a way as to satisfy a supply of power needed for the motor connected to the amplifier.

Abstract: A shift range control device is provided for a shift range switching system that includes a motor and a plurality of detectors. The motor has a plurality of winding sets. Each of the detectors is configured to detect a physical quantity that changes in accordance with rotation of the motor. The shift range control device includes a plurality of controllers configured to control switching of a shift range by controlling drive of the motor. Each of the controllers is provided to corresponding one of the winding sets and configured to acquire detection signals from the detectors, determine, based on the detection signals, a calculation signal having a same value between the controllers, and control, based on a target shift range and the calculation signal, a current supply to the corresponding one of the winding sets.

Abstract: An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal.

Abstract: An additive manufacturing system is disclosed for use in fabricating a structure. The additive manufacturing system may include a print head, and a support configured to move the print head. The support may include a first link, a second link rotationally connected to the first link at a joint, and an encoder-less motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of an angular position of the first link relative to the second link. The additive manufacturing system may further include a controller in communication with the sole encoder and the encoder-less motor. The controller may be configured to selectively trim operation of the encoder-less motor based only on the signal.

Abstract: A method for automated optimisation of a servo control system controlled by a setpoint, the servo control system including a corrector in a feedback loop, the method exhibiting satisfactory reliability and performance in terms of stability through an iterative procedure, the most effective corrector being determined from among correctors by developing a current value of the delay margin and by individually testing the correctors on the servo control system of the real mechatronic system and by injecting an excitation signal into the loop and by assessing two effective indicators based on at least one effective static margin and one effective dynamic margin, the two effective indicators being an effective static indicator and an effective dynamic indicator, the iterative procedure being stopped on a corrector, which is then the optimal corrector, when the two effective indicators become greater than respective thresholds determined for a current delay margin value.

Abstract: Provided is a semiconductor manufacturing apparatus, comprising: a first device; one or more sensors that detect physical quantities indicating a state of the first device; a first calculation circuit that calculates one or more feature quantities of the first device from the detected physical quantities; and a failure prediction circuit that monitors a temporal change in the one or more feature quantities calculated in the first calculation circuit, and stops receiving a new substrate when a duration for which a degree of deviation of the one or more feature quantities from those at a normal time is increasing exceeds a first time, and/or when a number of increases and decreases per unit time in the degree of deviation of the one or more feature quantities from those at the normal time exceeds a first number.

Abstract: Disclosed is a calibration device including: a position information acquiring unit (101) for acquiring position information showing the position and the posture of control target equipment; a force information acquiring unit (102) for acquiring information about a force applied to the control target equipment from a detection result of a force sensor (5) disposed in the control target equipment; a first estimating unit (104) for estimating the force applied to the control target equipment from the acquired position information by using a physical model, to acquire estimated force information; and a second estimating unit (105) for estimating a linear or nonlinear model on the basis of the acquired position information, the acquired force information, and the acquired estimated force information.

Abstract: A servo control device for controlling a motor based on a position command when an operation target is connected to the motor via a wave gear reduction mechanism may include a position control system configured to detect a shaft angular position of the motor to perform a closed-loop control based on the shaft angular position; an inverse control element having an inverse characteristic of dynamics of the position control system; and a compensation amount generation unit configured to generate a compensation amount for compensating for an angular transmission error of the wave gear reduction mechanism. The inverse control element is configured to apply compensation amount to the position control system.

Abstract: The present invention relates to a door operator (1) and to a method performed in a door operator system (100) comprising a door operator (1) connected to and arranged to move at least one door leaf (5) between an open and closed position, the door operator (1) comprising a control unit (3) configured to control the movement of the at least one door leaf (5), the method comprising: obtaining (S100), in a sleep mode of the door operator system (100), a sequence of input data in one or more components of the door operator (1) or the at least one door leaf (5), receiving (S110), in the control unit (3) of the door operator (1), said sequence of input data from the one or more components, and evaluating (S120) said sequence of input data and ranking (S130) the probability of that said sequence of input data corresponds to an intrusion attempt on the door operator system (100).

Abstract: A control device of a machine tool includes a position controller and a model of a position-controlled axis. The position controller receives a position setpoint value, a corresponding actual position value and a compensation value; determines therefrom a resulting value; determines based on the resulting value an actuating signal; and outputs the actuating signal to the position-controlled axis. The position and/or the orientation of the tool relative to the workpiece are adjusted based on the actuating signal. A sequence of successive control errors is stored, in a storage device and read out sequentially in accordance with a sequence of the position setpoint values and supplied to the model. The model determines from the read-out control error a respective compensation value which is then supplied to the position controller, while simulating the mechanically dynamic behavior of the position-controlled axis.

Abstract: A motor control apparatus includes: an excitation unit configured to excite a plurality of excitation phases of each of a plurality of motors that include first to Nth motors and a control unit configured to control the excitation unit so as to perform detection excitation processing for sequentially exciting the plurality of excitation phases for each excitation cycle during each excitation period, regarding each of the first to Nth motors, and thereby detect rotor positions of the respective first to Nth motors. When detecting rotor positions of the respective first to Nth motors, the control unit delays a start timing of the detection excitation processing of at least one motor out of the first to Nth motors relative to a start timing of the detection excitation processing of another motor by a period shorter than the excitation period.

Abstract: An electric power steering device includes: an electric motor including multi-phase coils, which is configured to cause a steering mechanism of a vehicle to rotate; and a control unit including a plurality of inverter circuits configured to drive the electric motor, wherein the inverter circuits include capacitors for smoothing, which are small in number than phase number of the electric motor, and the capacitors are arranged between bridge circuits of respective phases of the inverter circuits.

Abstract: Provided are a method and an apparatus for correcting a color convergence error, and a device. The method includes: controlling a projection system to project a first test pattern containing three sets of monochromatic test points and a second test pattern containing three sets of R, G, and B test points, to collect a first projection image and a second projection image on the projection screen; acquiring a first center-of-mass coordinate and a second center-of-mass coordinate corresponding to projection image points on the first projection image and the second projection image; calculating color noises corresponding to R, G, and B according to the first center-of-mass coordinate and the second center-of-mass coordinate; calculating color coordinates corresponding to the R, G, and B according to the color noises corresponding to the R, G, and B and the second center-of-mass coordinate; and adjusting an assembly parameter of the projection system.

Abstract: Provided are a position detection device, a printing apparatus equipped with the position detection device and a position detection method which make it possible to set an original point on a deviation-free appropriate position with no need of highly accurate adjustment of built-in positions of a linear encoder and an original point sensor.

Abstract: Respective amounts of movement of feed axes corresponding to first and second position controllers are determined, and if a value obtained by dividing a smaller amount of movement by a larger amount of movement, in the two amounts of movement, falls within a prescribed reference range, a position controller for the feed axis with the smaller amount of movement selects a detected motor position as a position feedback value and a position controller for the other feed axis selects a detected object position as a position feedback value.

Abstract: An immersive system includes a processing device. The processing device is communicated with an interface device and an electronic display in a head mounted display device. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The processing device is configured to provide an immersive content to the electronic display. The processing device is configured to identify a simulated object corresponding to the interface device in the immersive content, and identify an interaction event occurring to the simulated object in the immersive content. The processing device is configured to determine a vibration pattern according to the interaction event and the simulated object, and control the haptic feedback circuit to induce the haptic feedback according to the vibration pattern.

Abstract: A motor control system includes a motor, and a motor control apparatus including first processing circuitry that, based on a driving state quantity of the motor, controls driving power supplied to the motor, safety request input receiving circuitry through which a safety request signal is input from outside the motor control apparatus, safety cooperation input receiving circuitry through which a safety cooperation signal is input from outside the motor control apparatus, safety cooperation output circuitry through which the motor control apparatus outputs the safety cooperation signal to outside the motor control apparatus, and second processing circuitry that, upon input of at least one signal among the safety request signal and the safety cooperation signal, monitors a relationship between a predetermined motion monitor pattern and the driving state quantity and outputs the safety cooperation signal.

Abstract: A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.

Abstract: An speed detection apparatus of a rotational shaft in a robot arm that is applied to a drive mechanism is provided. The speed detection apparatus includes: first and second rotation sensors that are disposed on a side of a rotational shaft of the robot arm and outputs first and second rotational position signals with a phase difference of 90 degrees; first and second differentiators that differentiate the first and second rotational position signals; and a speed calculator that obtains a rotational speed of the robot arm by calculating a sum of squares of a first differential signal and a second differential signal.

Abstract: A drive controller comprises an evaluation unit to receive and evaluate a first item of feedback information from a motor connected to the drive controller, a control-signal block connected to secure inputs of the drive controller to receive condition control signals and to provide the condition control signals as input signals, a drive-signal block connected to the evaluation unit to calculate a first speed and/or a first position on the basis of the first item of feedback information on at least a first channel and to provide a first speed signal and/or a first position signal, a programmable logic unit connected to the control-signal block and the drive-signal block to realize the safety functions and the speed signal and/or the position signal to provide switch-off signals, and an output unit connected to the logic unit and to secure outputs of the drive controller to output switch-off signals on safety-switch-off paths.

Abstract: A vibration state detection device includes an imaging device configured to image at least one driven element to be driven by a drive unit of a machine tool; and a vibration state analysis unit configured to calculate a parameter corresponding to vibration of the driven element, based on image data for each predetermined period of elapsed time acquired by the imaging device. The parameter includes at least a vibration frequency and a machine tool including the vibration state detection device. Accordingly, it is possible to reliably obtain a parameter corresponding to vibration caused by cutting, even if cutting oil, chips, or the like adheres to a tool of a machine tool, and it is possible to suppress vibration caused by cutting.

Abstract: An image reading apparatus includes an image reader, an image controller, and an FFC configured to connect the image controller and the image reader to each other. The FFC includes a first signal line, a second signal line, and a third signal line. The image reader includes a loop back portion configured to return a signal transmitted from the image controller through the first signal line back to the image controller through the second signal line. The third signal line forms a feedback portion configured to return a signal output from the image controller back to the image controller before the signal is received by the image reader. The image controller is configured to detect an abnormality in a cable, the image reader, and the image controller based on diagnosis results obtained with use of the loop back portion and the feedback portion.